Signal processing method

ABSTRACT

A signal processing method is provided. First, at least one transmitted signal is output to at least one target, and the target reflects at least one reflected signal to receiving antennas, which then generate receiving signals upon receipt of the reflected signal. Next, the transmitted signal and each receiving signal are processed to generate processing signals. The processing signals are arranged in a form of matrix, to generate a channel coefficient matrix having M×N channel coefficient matrix blocks. Next, the channel coefficient matrix is divided into N divide ×M divide  secondary channel coefficient matrices, which are then substituted into a snapshot vector matrix equation to generate a snapshot vector matrix for calculating an angle of the target. The signal processing method can establish an optimal secondary channel coefficient matrix arrangement by using a special signal preprocessing manner, to improve the resolution and accuracy of the estimated angle parameter of the target.

This application claims priority for Taiwan patent application no.108104758 filed on Feb. 13, 2019 and application no. 108116291 filed onMay 10, 2019, the content of which is incorporated by reference in itsentirely.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The present invention relates to a signal processing technology, andmore particular to a signal processing method, which can be employed soas to calculate target angle parameters with high resolution andaccuracy.

2. Description of the Related Art

Radars first appeared during World War II. The original radars were usedto detect objects flying in the air, such as fighters. With theadvancement of radar technology and complete development of automationsystems, the radar technology has been gradually applied in advanceddriver assistance systems (ADAS), to detect information of the targetobjects in the vicinity of a vehicle, so that the ADAS can calculate adriving route of the vehicle according to the information of the targetobject detected by the radar.

The radar technology is used to send electromagnetic waves into thespace, and after the electromagnetic waves are reflected by the targetobject in the space, the radar receives the reflected signal, so thatthe radar can analyze direction, distance, and relative velocity of thetarget object, according to the reflected signal. Therefore, theanalysis of the reflected signal is quite important for obtaining thedata of the target object, and how to analyze the data of the targetobject from the reflected signal becomes a key issue of the radartechnology.

In recent years, most of the reflected signal analysis technologies usethe angle estimation algorithm based on signal subspace, to analyzeparameters of the target object. At present, most of the researchresources only focused on how to reduce complexity of the angleestimation algorithm and solve the problem caused by coherent signals,rather than on pre-processing of the input signal to improve theestimation performance. Therefore, the improvement of the angleestimation algorithm for reflected signal analysis so far is stilledlimited.

In order to effectively overcome the above-mentioned problem anddrawback, the present invention discloses a radar signal preprocessingmethod to modify the autocorrelation matrix inputted into the radarparameter estimation algorithm as the proposed signal processing methodof the present invention.

SUMMARY OF THE INVENTION

An objective of the present invention is to provide a signal processingmethod, which can generate secondary channel coefficient matrices byusing a special signal preprocessing manner, to improve reflected signalanalysis. Furthermore, the signal processing method can be used incooperation with the conventional radar parameter estimation algorithmand also improve the radar parameter estimation algorithm, so as toeffectively improve resolution and accuracy of an angle parameter of atarget estimated by a device.

Another objective of the present invention is to provide a signalprocessing method, which can simplify a target parameter calculationmethod and effectively improve accuracy of velocity, distance and angleparameters of a target.

In order to achieve the objectives, the present invention provides asignal processing method including the following steps. First, at leastone transmitted signal is transmitted to at least one target, and atleast one reflected signal is reflected by the at least one target.Next, the at least one reflected signal is received by a plurality ofreceiving antennas, respectively. The plurality of receiving antennasgenerate a plurality of receiving signals. The signal processing isperformed on the at least one transmitted signal and each of theplurality of receiving signals, to generate a plurality of processingsignals. Next, the plurality of processing signals received by each ofthe plurality of receiving antennas are arranged in a form of matrix, togenerate at least one channel coefficient matrix. Each of the pluralityof receiving antennas corresponds to a channel coefficient matrix havingM frames, and N processing signals are arranged as the channelcoefficient matrix blocks in each of the plurality of frames,respectively, so as to make the channel coefficient matrix have M×Nchannel coefficient matrix blocks. A movement parameter of a target isthus calculated according to the channel coefficient matrix, and themovement parameter includes a relative velocity parameter and a relativedistance parameter. Next, the at least one channel coefficient matrixblock is divided into N_(divide) frequency-domain channel matrices andM_(divide) time-domain channel matrices in frequency domain and timedomain, respectively, so that the channel coefficient matrix comprisesN_(divide)×M_(divide) secondary channel coefficient matrices, and eachof the plurality of secondary channel coefficient matrices hasN/N_(divide)×M/M_(divide) channel coefficient matrix blocks. Next, therelative velocity parameter and relative distance parameter calculatedaccording to the at least one channel coefficient matrix and aconventional parameter estimation algorithm (for example, a constantfalse alarm rate (CFAR) target detection method based on thetwo-dimensional fast Fourier transform spectrum), are substituted into asnapshot vector matrix equation, to obtain a snapshot vector matrix.

In an embodiment, the snapshot vector matrix equation is expressed as:

$s_{u,i,m} = {\sum\limits_{k = 0}^{{N/N_{divide}} - 1}{\left( {\sum\limits_{l = 0}^{{M/M_{divide}} - 1}{\left( D_{i,m} \right)_{k,l} \cdot e^{{- j}\;\frac{{\hat{v}}_{u}}{v_{\max}}}}} \right)e^{j\;\frac{{\hat{d}}_{u}}{d_{\max}}k}}}$D_(i, m)ϵℂ^(N/N_(divide) × M/M_(divide))m = 1, 2, …  , N_(divide) M_(divide)wherein s_(u,i,m) is the snapshot vector matrix, D_(i,m) is thesecondary channel coefficient matrix, {circumflex over (d)}_(u) is therelative distance parameter, {circumflex over (v)}_(u) is the relativevelocity parameter, d_(max) is a maximal detectable relative distanceparameter of the target, v_(max) is a maximal detectable relativevelocity parameter of the target, u denotes the u-th to-be-estimatedtarget, i denotes the i-th receiving antenna, m denotes the m-thsnapshot vector matrix, k,l is a coordinate of the channel coefficientmatrix block belonged to the secondary channel coefficient matrixparameter.

In an embodiment, after the step of obtaining the snapshot vectormatrix, the signal processing method further includes steps ofperforming a space smoothing algorithm, a frequency smoothing algorithm,and a forward-backward averaging algorithm on the snapshot vector matrixin a sequential order, to generate a forward-backward averagingparameter. And, substituting the forward-backward averaging parameterinto an angle estimation algorithm, such as angle estimation algorithmbased on estimating signal via rotational invariance techniques(ESPRIT), to estimate a first eigenvalue λ_(u) and a first standardangle parameter q_(u) for the assumption that there is only one target,and to estimate a second eigenvalue λ_(u,1), a second standard angleparameter q_(u,1), a third eigenvalue λ_(u,2) and a third standard angleparameter q_(u,2) for the assumption that there are two targets. Next,substituting these parameters into a determination equation, todetermine the number of the target and the corresponding standard angleparameter; when it determines, according to a calculation result of thedetermination equation, that there are at least two targets, using thesecond standard angle parameter and the third standard angle parameteras standard angle parameters of the two targets; when it determines,according to a calculation result of the determination equation, thatthere are not at least two targets, using the first standard angleparameter as a standard angle parameter of the target.

In an embodiment, the determination equation is expressed as:

$\left\{ {\begin{matrix}{{H_{u} = {{2\mspace{14mu}{and}\mspace{14mu}\left( {Q_{u,1},Q_{u,2}} \right)} = \left( {q_{u,1},q_{u,2}} \right)}},} \\{{if}\mspace{14mu}\left( {{{\lambda_{u} - \lambda_{u,1}}} \geq {ɛ_{1}\mspace{14mu}{and}\mspace{14mu}{{\lambda_{u} - \lambda_{u,2}}}} \geq ɛ_{1}} \right)} \\{{or}\mspace{14mu}\left( {{{\lambda_{u} - \lambda_{u,1}}} \leq {ɛ_{2}\mspace{14mu}{and}\mspace{14mu}{{\lambda_{u} - \lambda_{u,2}}}} \leq ɛ_{2}} \right)} \\{{or}\mspace{14mu}\left( {{{{{\lambda_{u}} - 1}} \leq ɛ_{3}},{{{{\lambda_{u,1}} - 1}} \leq {ɛ_{3}\mspace{14mu}{and}\mspace{14mu}{{{\lambda_{u,2}} - 1}}} \leq ɛ_{3}}} \right)} \\{{H_{u} = {{1\mspace{14mu}{and}\mspace{14mu} Q_{u}} = q_{u}}},{otherwise}}\end{matrix}\quad} \right.$where H_(u) is the determined number of target, Q_(u,1),Q_(u,2) is thestandard angle parameters of the two targets if the equation determinesthat there are at least two targets, Q_(u) is the standard angleparameter of the target if the equation determines that there are not atleast two targets, q_(u) is the first standard angle parameter, q_(u,1)is the second standard angle parameter, q_(u,2) is the third standardangle parameter, λ_(u) is the first eigenvalue, λ_(u,1) is the secondeigenvalue, λ_(u,2) is the third eigenvalue, and ε₁, ε₂, ε₃ are presetthresholds.

BRIEF DESCRIPTION OF THE DRAWINGS

The structure, operating principle and effects of the present inventionwill be described in detail by way of various embodiments, which areillustrated in the accompanying drawings.

FIG. 1 is a system schematic block diagram when applying a signalprocessing method of the present invention.

FIG. 2 is a flowchart of a signal processing method of the presentinvention.

FIG. 3 is a schematic view of a channel coefficient matrix of thepresent invention.

FIG. 4 is a schematic view of a divided channel coefficient matrix ofthe present invention.

FIG. 5 is a flowchart of an operation of calculating a standard angleparameter according to the present invention.

FIG. 6A is a signal analysis diagram generated by the signal processingmethod of the present invention.

FIG. 6B is a signal analysis diagram generated by a conventional method.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

The following embodiments of the present invention are herein describedin details with reference to the accompanying drawings. These drawingsshow specific examples of the embodiments of the present invention.These embodiments are provided so that this disclosure will be thoroughand complete, and will fully convey the scope of the invention to thoseskilled in the art. It is to be acknowledged that these embodiments areexemplary implementations and are not to be construed as limiting thescope of the present invention in any way. Further modifications to thedisclosed embodiments, as well as other embodiments, are also includedwithin the scope of the appended claims. Regarding the drawings, therelative proportions and ratios of elements in the drawings may beenlarged or diminished in size for the sake of clarity and convenience.Such arbitrary proportions are only illustrative and not limiting in anyway. The same reference numbers used in the drawings and descriptionrefer to the same or like parts.

It is to be acknowledged that although the terms ‘first’, ‘second’,‘third’, and so on, may be used herein to describe various elements,these elements should not be limited by these terms. These terms areused only for the purpose of distinguishing one component from anothercomponent. Thus, a first element discussed herein could be termed asecond element without altering the description of the presentdisclosure. As used herein, the term “or” includes any and allcombinations of one or more of the associated listed items.

It will be acknowledged that when an element or layer is referred to asbeing “on,” “connected to” or “coupled to” another element or layer, itcan be directly on connected or coupled to the other element or layer,or intervening elements or layers may be present. In contrast, when anelement is referred to as being “directly on,” “directly connected to”or “directly coupled to” another element or layer, there are nointervening elements or layers present.

In addition, unless explicitly described to the contrary, the word“comprise” and variations such as “comprises” or “comprising”, will beacknowledged to imply the inclusion of stated elements but not theexclusion of any other elements.

Please refer to FIG. 1, which shows a system schematic block diagramwhen applying a signal processing method of the present invention. Asshown in FIG. 1, a radar detection system 1 comprises a signaltransmitter 10 and a signal receiver 30. For example, the signaltransmitter 10 can be a frequency modulation continuous wave (FMCW)radar, an orthogonal frequency division multiplex (OFDM) radar, or otherradar transmitting different types of signals. The signal transmitter 10can output at least one transmitted signal to at least one target 20.The at least one target 20 reflects the transmitted signal and generatesa reflected signal. The signal receiver 30 can receive the reflectedsignal reflected by the target 20, and perform signal analysis on thereflected signal to estimate information, such as a relative velocityand a relative distance of the target 20 to the signal transmitter 10,and a relative angle of the target 20.

The signal receiver 30 includes a plurality of receiving antennas 32, aplurality of signal processing units 34, and an estimation unit 36. Theplurality of receiving antennas 32 are in a uniform linear arraydisposed on a surface of the signal receiver 30, and configured toreceive the reflected signal. A distance 61 between the two adjacentreceiving antennas 32 is the same as that of another two adjacentreceiving antennas 32. Each receiving antennas 32 is connected to asignal processing unit 34. The signal processing unit 34 may comprise asignal processing unit, a low pass filter unit, an analog-to-digitalconversion unit, a channel signal matrix calculation unit, and othernecessary signal processing unit, such that the signal processing unit34 can generate a receiving signal based on the reflected signal, andthen perform subsequent signal processing, such as channel coefficientmatrix processing, on the receiving signal. The plurality of signalprocessing units 34 are connected to the estimation unit 36, and theestimation unit 36 can estimate the information such as a relativevelocity, a relative distance of the target 20 to the signal receiver 30and a relative angle, according to the signal processed by the signalprocessing unit 34.

After introduction of the system architecture to which the signalprocessing method of the present invention is applied, an operationalflow of the signal processing method of the present invention will beillustrated in details with reference to FIGS. 1 and 2. First, in a stepS10, the signal transmitter 10 outputs the at least one transmittedsignal to the target 20, so that the target 20 reflects the transmittedsignal and generate the at least one reflected signal to the signalreceiver 30. Next, in a step S12, each of the plurality of receivingantennas 32 of the signal receiver 30 receives the at least onereflected signal, and then transmits the reflected signal to the signalprocessing unit 34 corresponding thereto, and each of the plurality ofsignal processing units 34 generates the receiving signal, wherein thereceiving signal is expressed as the following equation (1):

$\begin{matrix}{{s_{R}(t)} = {b_{0}\left\{ {\sum\limits_{l = 0}^{M - 1}{e^{j\; 2\;{\pi\;\lbrack{f_{c} + {\frac{B}{T_{c}}{({\frac{t - {lT}_{c}}{2} - \tau})}} + f_{D}}\rbrack}{({t - {lT}_{c}})}}{e^{j\; 2\;\pi\; f_{D}T_{c}l}\left\lbrack {{u\left( {t - \tau - {lT}_{c}} \right)} - {u\left( {t - \tau - {\left( {l + 1} \right)T_{c}}} \right)}} \right\rbrack}}} \right\}{\varnothing(i)}e^{j\;\varphi_{0}}}} & (1)\end{matrix}$wherein, s_(R)(t) is the receiving signal, b₀ is attenuation of thereceiving signal, l is a coordinate of the channel coefficient matrixblock belonged to the channel coefficient matrix, f_(D) is a Dopplershift caused by the relative velocity of the target, f_(c) is a carrierfrequency, t is time, T_(c) is a duration of frequency modulationcontinuous wave (FMCW) signal, B is a frequency-sweep bandwidth, φ₀ is arandom phase difference, Ø(i) is a spatial phase difference of the i-threceiving antenna relative to the first receiving antenna.

Next, in a step S14, each of the plurality of signal processing units 34performs signal processing on the transmitted signal with respect toeach of the plurality of receiving signals. When the receiving signal isan OFDM signal, the signal processing units 34 can perform theconventional signal processing manner corresponding to the OFDM signal,on the transmitted signal and the receiving signals. In this embodiment,for example, the receiving signal is an FMCW signal, so a signal mixingprocess is performed on the transmitted signal while the signalprocessing is performed on the receiving signal, thereby generating theprocessing signal which can be expressed as the following equation (2):

$\begin{matrix}{{s_{R,i,{sample}}\left( {k,l} \right)} = {{{s_{R,i,{mix}}(t)}❘_{t = {{lT}_{c} + {k\;\frac{T_{c}}{N}}}}} = {b_{0}e^{{- j}\; 2\;\pi\;{({\frac{B}{T_{c}}\tau})}{kT}_{c}}e^{j\; 2\;\pi\; f_{D}T_{c}l}{\varnothing(i)}e^{j\;\varphi_{0}}}}} & (2) \\{\mspace{79mu}{{s_{R,i,{mix}}(t)} = {{s_{R,i}(t)}{s_{T}^{*}(t)}}}} & \;\end{matrix}$wherein, s_(R,i,sample) is the processing signal, N is the number ofsampling times in a chirp signal period, k,l is the coordinate of thechannel coefficient matrix block belonged to the channel coefficientmatrix, b₀ is attenuation of the receiving signal, T_(c) is a durationof frequency modulation continuous wave (FMCW) signal, B is afrequency-sweep bandwidth, s_(T)(t) is the transmitted signal.

Next, the signal processing method of the present invention enters astep S16. Please also refer to FIG. 3. Each of the plurality of signalprocessing units 34 arranges the processing signal, received by thereceiving antenna 32 corresponding thereto, into a form of matrix, so asto generate the at least one channel coefficient matrix. In detail, eachreceiving antenna 32 generates channel coefficient matrices 40, 42, and44, respectively, and the manners of generating the channel coefficientmatrices 40, 42 and 42 are the same, so this embodiment uses the channelcoefficient matrix 40 as an example for illustration. The signalprocessing unit 34 can divide the channel coefficient matrix 40 into Mframes, and the N processing signals are sequentially arranged as thechannel coefficient matrix in each frame, so that the channelcoefficient matrix can have M×N channel coefficient matrix blocks 402,and the channel coefficient matrix block 402 can be expressed as thefollowing equation (3):

$\begin{matrix}{\left( F_{i} \right)_{k,l} = {{b_{0} \cdot e^{j\; 2\;\pi\; f_{D}T_{c}l} \cdot e^{{- j}\; 2\;{\pi{({\frac{B}{T_{c}}\tau})}}{kT}_{s}} \cdot e^{j\;\varphi_{0}} \cdot e^{j\;{\varnothing{(i)}}}}{\epsilon\mathbb{C}}^{N \times M}}} & (3)\end{matrix}$wherein, (F_(i))_(k,l) is a k-th frequency domain and l-th channelcoefficient matrix block in the channel coefficient matrix, b₀ isattenuation of the receiving signal, T_(c) is a duration of frequencymodulation continuous wave (FMCW) signal, T_(s) is a sampling cycle,f_(D) is a Doppler shift caused by the relative velocity of the target.

In the signal processing method of the present invention, after thechannel coefficient matrix is generated in the step S16, the estimationunit 36 estimates a relative velocity parameter, a relative distanceparameter and a reference angle parameter by using the conventionalestimation method, and the estimation process is described in followingsections. The estimation unit 36 can perform two-dimensional fastFourier transform on the channel coefficient matrix 40 of one of thereceiving antennas 32, to form a time-frequency channel response matrix,and then substitute the time-frequency channel response matrix into apeak-value detection algorithm, so as to generate a movement parameterof the target 20. The movement parameter includes the relative velocityparameter {circumflex over (v)}_(u) and the relative distance parameter{circumflex over (d)}_(u) of the target 20. Next, the estimation unit 36then performs one-dimensional fast Fourier transform on thetime-frequency channel response matrix block corresponding to therelative velocity parameter and the relative distance parameter fordifferent antennas, to generate the reference angle parameter{circumflex over (θ)}_(u) of the target.

After the channel coefficient matrix 40 is generated, the method entersa step S18. Meanwhile, please refer to FIG. 4. In the step S18, thechannel coefficient matrix 40 is divided into N_(divide)frequency-domain channel matrices and M_(divide) time-domain channelmatrices based on frequency domain and time domain, so that the channelcoefficient matrix comprises N_(divide)×M_(divide) secondary channelcoefficient matrices 50, and each of the secondary channel coefficientmatrices 50 comprises N/N_(divide)×M/M_(divide) channel coefficientmatrix blocks 402. Next, in a step S20, the divided channel coefficientmatrix blocks 50 of the channel coefficient matrix 40, and the relativevelocity parameter {circumflex over (v)}_(u) and relative distanceparameter {circumflex over (d)}_(u) estimated by the above-mentionedconventional radar algorithm are substituted in a snapshot vector matrixequation which is expressed as the following equation (4):

$\begin{matrix}{s_{u,i,m} = {\sum\limits_{k = 0}^{{N/N_{divide}} - 1}{\left( {\sum\limits_{l = 0}^{{M/M_{divide}} - 1}{\left( D_{i,m} \right)_{k,l} \cdot e^{{- j}\;\frac{{\hat{v}}_{u}}{v_{\max}}}}} \right)e^{j\;\frac{{\hat{d}}_{u}}{d_{\max}}k}}}} & (4) \\{D_{i,m}{\epsilon\mathbb{C}}^{{N/N_{divide}} \times {M/M_{divide}}}} & \; \\{{m = 1},2,\ldots\mspace{14mu},{N_{divide}\; M_{divide}}} & \;\end{matrix}$wherein, s_(u,i,m) is a snapshot vector matrix, D_(i,m) is the secondarychannel coefficient matrix, u denotes the u-th to-be-estimated target, idenotes the i-th receiving antenna, k,l is a coordinate of the channelcoefficient matrix block belonged to the channel coefficient matrix, mdenotes the m-th snapshot vector matrix, {circumflex over (d)}_(u) isthe relative distance parameter of the u-th target estimated by theconventional radar algorithm, {circumflex over (v)}_(u) is the relativevelocity parameter of the u-th target, d_(max) is a maximal detectablerelative distance parameter of the target, v_(max) is a maximaldetectable relative velocity parameter of the target, N_(divide) andM_(divide) are time-domain channel matrix and frequency-domain channelmatrix, respectively. For example, the snapshot vector matrix equation(4) is performed on the secondary channel coefficient matrix D_(i,m) 50of the i-th receiving antenna 32, wherein D_(i,m)ϵ

^(N/N) ^(divide) ^(×M/M) ^(divide) , and is belonged to the p-thsub-frequency band when m=1+(p−1)M_(divide),2+(p−1)M_(divide), . . . ,pM_(divide). The movement parameter of the u-th to-be-estimated target,found by the conventional method, such as the two-dimensional fastFourier transform algorithm, can be substituted into the snapshot vectormatrix equation (4), so as to avoid complex calculation of using thetwo-dimensional fast Fourier transform algorithm to re-search themovement parameter of the u-th to-be-estimated target in each secondarychannel coefficient matrix during the angle calculation in theconvention method. For the u-th to-be-estimated target, theN_(divide)×M_(divide) snapshot vector s_(u,m)=[s_(u,1,m),s_(u,2,m), . .. ,s_(u,N) _(R) _(,m)]^(T) having a processing gain of 10log((N·M)/(N_(divide)·M_(divide))), can be generated to serve as theinput signal of the signal subspace angle estimation algorithm in thesnapshot vector matrix S_(u,p)=[s_(u,1+(p−1)M) _(divide) ,s_(u,2+(p−1)M)_(divide) , . . . ,s_(u,pM) _(divide) ]ϵ

^(N) ^(R) ^(×M) ^(divide) of the p-th sub-frequency band.

Please refer to FIG. 5, which illustrates how to use the snapshot vectormatrix to calculate the relative angle of the target. As shown in a stepS22, a space smoothing algorithm, a frequency smoothing algorithm, and aforward-backward averaging algorithm are performed on the snapshotvector matrix in a sequential order, to generate the forward-backwardaveraging parameter. In detail, when the space smoothing algorithm isperformed, the different L array groups in which each includescontinuous N_(R,sub) receiving antennas on the signal receiver 30 isfound first, wherein L=N_(R)−N_(R,sub)+1, N_(R,sub)(N_(R,sub)≤N_(R)),and N_(R) is a total amount of the receiving antennas 32. Next, thesnapshot vector matrix S_(u,p) of each sub-frequency band is dividedinto L snapshot vector matrices, and each snapshot vector matrix can beexpressed as the following equation (5):S _(u,p,ll)=[0_(N) _(R,sub) _(×(ll−1))

I _(N) _(R,sub) _(×N) _(R,sub)

0_(N) _(R,sub) _(×(L−ll))]_(N) _(R,sub) _(×N) _(R) ^(H)[s _(u,1+(p−1)M) _(divide)

s _(u,2+(p−1)M) _(divide)

s _(u,pM) _(divide) ]_(N) _(R) _(×M) _(divide)   (5)wherein 0 is a zero matrix, I is an unit matrix, ll is a sequence of thenumber of the sub-arrays, and a matrix size of the equation (5) isN_(R,sub)×M_(divide), and the snapshot vector matrix is then used togenerate the corresponding autocorrelation matrixR_(u,p,ll)=S_(u,p,ll)S_(u,p,ll) ^(H)/M_(divide), and the autocorrelationmatrix of the p-th sub-frequency band is arranged according tomathematical formula, to derive the following equation (6):

$\begin{matrix}{R_{u,p} = {\sum\limits_{{ll} = 1}^{L}{R_{u,p,{ll}}/L}}} & (6)\end{matrix}$

Next, the frequency smoothing algorithm is performed, and R_(u,p) issubstituted into the frequency smoothing algorithm. The frequencysmoothing algorithm can be expressed as the following equation (7):

$\begin{matrix}{R_{u} = {\sum\limits_{p = 1}^{N_{divide}}{{T_{p}\left( {\hat{\theta}}_{u} \right)}R_{u,p}{{T_{p}^{H}\left( {\hat{\theta}}_{u} \right)}/N_{divide}}}}} & (7)\end{matrix}$where R_(u) is an autocorrelation matrix of the u-th target calculatedby the spatial smoothing and frequency smoothing algorithm,T_(p)({circumflex over (θ)}_(u)) is a focusing matrix of the p-thsub-frequency band, {circumflex over (θ)}_(u) is an angle vectorcorresponding to the u-th target and calculated by the conventionalpeak-value detection algorithmic method. Next, R_(u) is substituted intothe forward-backward averaging algorithm which helps to remove theinfluence of coherent signals of R_(u), so as to generate theautocorrelation matrix as the signal subspace angle estimationalgorithm, and the equation (8) is expressed as follows:

$\begin{matrix}{R_{u,{FBA}} = {\frac{1}{2}\left( {R_{u} + {{LR}_{u}^{*}L}} \right)}} & (8) \\{L = \begin{bmatrix}0 & \ldots & 0 & 1 \\0 & \ldots & 1 & 0 \\\vdots & ⋰ & \vdots & \vdots \\1 & \ldots & 0 & 0\end{bmatrix}} & \;\end{matrix}$wherein, R_(u,FBA) is the forward-backward averaging parameter.

In a step S24, for the u-th to-be-estimated target, R_(u,FBA) issubstituted into the angle estimation algorithm, to obtain an accuratenumber of the estimated target and the corresponding standard angleparameters. The angle estimation algorithm can use the angle estimationalgorithm based on estimating signal via rotational invariancetechniques (ESPRIT).

The operation of the step S24 is described in detail below. First, in astep S242, the forward-backward averaging parameter R_(u,FBA) issubstituted into the angle estimation algorithm based on ESPRIT, toestimate a first eigenvalue λ_(u) and a first standard angle parameterq_(u) for the assumption that there is only one target, and to estimatea second eigenvalue λ_(u,1), a second standard angle parameter q_(u,1),a third eigenvalue λ_(u,2), and a third standard angle parameter q_(u,2)for the assumption that there are two targets. Next, in a step S244, thefirst eigenvalue λ_(u), the second eigenvalue λ_(u,1) and the thirdeigenvalue λ_(u,2) are substituted into an determination equation, todetermine whether there are two targets. The determination equation (9)is expressed as follows:

$\begin{matrix}\left\{ \begin{matrix}{{H_{u} = {{2\mspace{14mu}{and}\mspace{14mu}\left( {Q_{u,1},Q_{u,2}} \right)} = \left( {q_{u,1},q_{u,2}} \right)}},} \\{{if}\mspace{14mu}\left( {{{\lambda_{u} - \lambda_{u,1}}} \geq {ɛ_{1}\mspace{14mu}{and}\mspace{14mu}{{\lambda_{u} - \lambda_{u,2}}}} \geq ɛ_{1}} \right)} \\{{or}\mspace{14mu}\left( {{{\lambda_{u} - \lambda_{u,1}}} \leq {ɛ_{2}\mspace{14mu}{and}\mspace{14mu}{{\lambda_{u} - \lambda_{u,2}}}} \leq ɛ_{2}} \right)} \\{{or}\mspace{14mu}\left( {{{{{\lambda_{u}} - 1}} \leq ɛ_{3}},{{{{\lambda_{u,1}} - 1}} \leq {ɛ_{3}\mspace{14mu}{and}\mspace{14mu}{{{\lambda_{u,2}} - 1}}} \leq ɛ_{3}}} \right)} \\{{H_{u} = {{1\mspace{14mu}{and}\mspace{14mu} Q_{u}} = q_{u}}},{otherwise}}\end{matrix} \right. & (9)\end{matrix}$wherein H_(u) is the determined number of target, Q_(u,1),Q_(u,2) is thestandard angle parameters of the two targets if the equation determinesthat there are at least two targets, Q_(u) is the standard angleparameter of the target if the equation determines that there are not atleast two targets, q_(u) is the first standard angle parameter, q_(u,1)is the second standard angle parameter, q_(u,2) is the third standardangle parameter, λ_(u) is the first eigenvalue, λ_(u,1) is the secondeigenvalue, λ_(u,2) is the third eigenvalue, ε₁, ε₂ and ε₃ are differentpreset thresholds, ε₁ and ε₂ can be 0.01, and ε₃ can be 0.05.

According to the above determination equation (9) and the eigenvalues,it is determined whether there are two targets if it determines thatthere are two targets, the method of the present invention enters a stepS246, and in a condition that there are two targets, the second standardangle parameter q_(u,1) and third standard angle parameter q_(u,2) aredefined as the standard angle parameters of the two targets. Otherwise,the method enters a step S248, indicating there is only one target, andin such condition when there is only one target, the first standardangle parameter q_(u) is defined as the standard angle parameter of thetarget. As a result, the signal processing method of the presentinvention is able to determine effectively whether the standard anglevalues estimated by the angle estimation algorithm based on ESPRIT arethe angles of the same target or the angles of different targets, so asto solve the problems that it was hard to determine, after thecalculation of standard angle parameters, whether the two angles belongto the same target.

Furthermore, regarding to the setting of the frequency domain as well astime domain division constants of the system., it is suggested that(B/N_(divide))/f_(c) must be less than 0.01 to maintain the narrow-bandassumption of the frequency smoothing process in each sub frequencyband, and N_(divide)×M_(divide) must be at least larger than two timesof number of the receiving antennas. It should be noted that, when theamount of divided matrices in time domain and frequency domain is less,the secondary channel coefficient matrix includes more channelcoefficient matrix blocks. Although the quality of each snapshot vectormatrix is increased (that is, a high processing gain causes a highsignal-to-noise ratio), nevertheless, less snapshot vector matricescause failure of creating a full-rank auto-covariance matrix as theinput of the signal subspace angle estimation algorithm, and it resultsin a wrong noise subspace. On the other hand, when the amount of dividedmatrices in time domain and frequency domain is increasing, moresnapshot vector matrices can be generated. However, the quality of thesnapshot vector matrices is reduced, (that is, a low processing gaincauses a low signal-to-noise ratio), and it leads the signal subspaceangle estimation algorithm to find the wrong noise subspace, and causesdecline of the resolution and accuracy of the angle. Therefore, theamount of divided matrices in time domain and frequency domain mustrefer to the amount of resources of the actual system, such as theamount N·M of matrix blocks. The recommended selection is to maximizethe processing gain 10 log((N·M)/(N_(divide)·M_(divide))). of thereceiver in consideration of the amount of antennas used in the systemand the acceptable snapshot amount N_(divide)·M_(divide). According tothe constant setting recommended above, the user can select theappropriate constant values to achieve the best angle estimationperformance.

Please refer to FIGS. 6A and 6B. FIG. 6A is a signal analysis diagramestimated by the signal processing method of the present invention,comprising the steps S10 to S20, and FIG. 6B is signal analysis diagramestimated by the conventional estimation methods. As shown in FIGS. 6Aand 6B, it can be seen that there is almost no difference in the signalwaveforms. However, the calculation process of the signal processingmethod of the present invention is simpler than that of the conventionalmethod, and the proposed method can be used to simplify the targetparameter calculation method and further improve the resolution of theparameters of the target, thereby effectively enhancing accuracy of theangle parameters of the target.

According to the above-mentioned contents, the signal processing methodof the present invention is aimed to generate a secondary channelcoefficient matrix by using the special signal pre-processing manner,and to improve the ability of analyzing the reflected signal. The signalprocessing method of the present invention can be utilized incooperation with a conventional radar parameter estimation algorithm forfurther improving the parameter estimation algorithm, so as toeffectively improve the resolution and accuracy of the angle parameterof the target estimated by the device. As a result it simplifies thetarget parameter calculation method and effectively improves theaccuracy of the angle parameters of the target.

The present invention disclosed herein has been described by means ofspecific embodiments. However, numerous modifications, variations andenhancements are allowed to be made thereto by those skilled in the artwithout departing from the spirit and scope of the disclosure set forthin the claims.

What is claimed is:
 1. A signal processing method, comprising:transmitting at least one transmitted signal to at least one target toreflect at least one reflected signal; receiving the at least onereflected signal, and generating a plurality of receiving signals by aplurality of receiving antennas; performing signal processing on the atleast one transmitted signal and each of the plurality of receivingsignals, to generate a plurality of processing signals; arranging theprocessing signals received by each of the plurality of receivingantennas into a form of matrix, to generate at least one channelcoefficient matrix, wherein each of the plurality of receiving antennascorresponds to one of the at least one channel coefficient matrix, thecorresponding channel coefficient matrix comprises M frames, and Nprocessing signals are sequentially arranged as the channel coefficientmatrix blocks in each of the M frames, so that the channel coefficientmatrix comprises M×N channel coefficient matrix blocks, a movementparameter of the target is calculated according to the channelcoefficient matrix, and the movement parameter comprises a relativevelocity parameter and a relative distance parameter; dividing the atleast one channel coefficient matrix, based on frequency domain and thetime domain, into N_(divide) frequency-domain channel matrices andM_(divide) time-domain channel matrices, respectively, wherein the atleast one channel coefficient matrix comprises N_(divide)×M_(divide)secondary channel coefficient matrices, and each of the plurality ofsecondary channel coefficient matrices comprisesN/N_(divide)×M/M_(divide) channel coefficient matrix blocks; andsubstituting the secondary channel coefficient matrices, the relativevelocity parameter and the relative distance parameter into a snapshotvector matrix equation, to obtain a snapshot vector matrix with aprocessing gain of 10 log((N·M)/(N_(divide)·M_(divide))) dB.
 2. Thesignal processing method according to claim 1, wherein the snapshotvector matrix equation is expressed as: $\begin{matrix}{s_{u,i,m} = {\sum\limits_{k = 0}^{{N/N_{divide}} - 1}{\left( {\sum\limits_{l = 0}^{{M/M_{divide}} - 1}{\left( D_{i,m} \right)_{k,l} \cdot e^{{- j}\;\frac{{\hat{v}}_{u}}{v_{\max}}}}} \right)e^{j\;\frac{{\hat{d}}_{u}}{d_{\max}}k}}}} \\{D_{i,m}{\epsilon\mathbb{C}}^{{N/N_{divide}} \times {M/M_{divide}}}} \\{{m = 1},2,\ldots\mspace{14mu},{N_{divide}\; M_{divide}}}\end{matrix}$ wherein s_(u,i,m) is the snapshot vector matrix, D_(i,m)is the secondary channel coefficient matrix, {circumflex over (d)}_(u)is the relative distance parameter calculated by using a conventionalradar parameter estimation algorithm, {circumflex over (v)}_(u) is therelative velocity parameter, d_(max) is a maximal detectable relativedistance parameter of the target, v_(max) is a maximal detectablerelative velocity parameter of the target, u denotes the u-thto-be-estimated target, i denotes the i-th receiving antenna, m denotesthe m-th snapshot vector matrix, and k,l is a coordinate of the channelcoefficient matrix block belonged to the channel coefficient matrix. 3.The signal processing method according to claim 1, after the step ofobtaining the snapshot vector matrix, further comprising: performing aspace smoothing algorithm, a frequency smoothing algorithm, and aforward-backward averaging algorithm on the snapshot vector matrix in asequential order, so as to generate a forward-backward averagingparameter; and substituting the forward-backward averaging parameterinto an angle estimation algorithm, to estimate a standard angleparameter of the target.
 4. The signal processing method according toclaim 3, wherein the step of substituting the forward-backward averagingparameter into the angle estimation algorithm to estimate the standardangle parameter of the target, further comprises: substituting theforward-backward averaging parameter into an angle estimation algorithmbased on estimating signal via rotational invariance techniques(ESPRIT), to estimate a first eigenvalue and a first standard angleparameter for an assumption that there is one target, and to estimate asecond eigenvalue, a second standard angle parameter, a thirdeigenvalue, and a third standard angle parameter for an assumption thatthere are at least two targets; and substituting the first eigenvalue,the second eigenvalue, and the third eigenvalue into a determinationequation, to determine whether there are at least two targets; when itis determined that there are at least two targets, using the secondstandard angle parameter and the third standard angle parameter asstandard angle parameters of the at least two targets; and when it isdetermined that there are not at least two targets, using the firststandard angle parameter as a standard angle parameter of the target. 5.The signal processing method according to claim 4, wherein thedetermination equation is expressed as: $\left\{ {\begin{matrix}{{H_{u} = {{2\mspace{14mu}{and}\mspace{14mu}\left( {Q_{u,1},Q_{u,2}} \right)} = \left( {q_{u,1},q_{u,2}} \right)}},} \\{{if}\mspace{14mu}\left( {{{\lambda_{u} - \lambda_{u,1}}} \geq {ɛ_{1}\mspace{14mu}{and}\mspace{14mu}{{\lambda_{u} - \lambda_{u,2}}}} \geq ɛ_{1}} \right)} \\{{or}\mspace{14mu}\left( {{{\lambda_{u} - \lambda_{u,1}}} \leq {ɛ_{2}\mspace{14mu}{and}\mspace{14mu}{{\lambda_{u} - \lambda_{u,2}}}} \leq ɛ_{2}} \right)} \\{{or}\mspace{14mu}\left( {{{{{\lambda_{u}} - 1}} \leq ɛ_{3}},{{{{\lambda_{u,1}} - 1}} \leq {ɛ_{3}\mspace{14mu}{and}\mspace{14mu}{{{\lambda_{u,2}} - 1}}} \leq ɛ_{3}}} \right)} \\{{H_{u} = {{1\mspace{14mu}{and}\mspace{14mu} Q_{u}} = q_{u}}},{otherwise}}\end{matrix}\quad} \right.$ wherein H_(u) is the determined number oftarget, Q_(u,1),Q_(u,2) is the standard angle parameters of the twotargets if the equation determines that there are at least two targets,Q_(u) is the standard angle parameter of the target if the equationdetermines that there are not at least two targets, q_(u) is the firststandard angle parameter, q_(u,1) is the second standard angleparameter, q_(u,2) is the third standard angle parameter, λ_(u) is thefirst eigenvalue, λ_(u,1) is the second eigenvalue, λ_(u,2) is the thirdeigenvalue, and ε₁, ε₂ and ε₃ are preset thresholds.
 6. The signalprocessing method according to claim 1, wherein the step of calculatingthe movement parameter of the target according to the channelcoefficient matrix, further comprises: performing two-dimensional fastFourier transforms on the at least one channel coefficient matrix, toform a time-frequency channel response matrix, and substituting thetime-frequency channel response matrix into a peak-value detectionalgorithm to generate the movement parameter of the target, wherein themovement parameter comprises the relative velocity parameter and therelative distance parameter; and performing one-dimensional fast Fouriertransform on the time-frequency channel response matrix block of thedifferent receiving antennas corresponding to the relative velocityparameter and the relative distance parameter, to generate a referenceangle parameter of the target.
 7. The signal processing method accordingto claim 1, wherein the receiving signal is expressed as:${s_{R}(t)} = {b_{0}\left\{ {\sum\limits_{l = 0}^{M - 1}{e^{j\; 2\;{\pi\;\lbrack{f_{c} + {\frac{B}{T_{c}}{({\frac{t - {lT}_{c}}{2} - \tau})}} + f_{D}}\rbrack}{({t - {lT}_{c}})}}{e^{j\; 2\;\pi\; f_{D}T_{c}l}\left\lbrack {{u\left( {t - \tau - {lT}_{c}} \right)} - {u\left( {t - \tau - {\left( {l + 1} \right)T_{c}}} \right)}} \right\rbrack}}} \right\}{\varnothing(i)}e^{j\;\varphi_{0}}}$wherein, s_(R)(t) is the receiving signal, b₀ is attenuation of thereceiving signal, l is a coordinate of the channel coefficient matrixblock belonged to the channel coefficient matrix, f_(D) is a Dopplershift caused by a relative velocity of the target, f_(c) is a carrierfrequency, t is time, T_(c) is a duration of frequency modulationcontinuous wave (FMCW) signal, B is a frequency-sweep bandwidth, φ₉ is arandom phase difference, and Ø(i) is a spatial phase difference of thei-th receiving antenna relative to the first receiving antenna.
 8. Thesignal processing method according to claim 1, wherein the processingsignal is expressed as:${s_{R,i,{sample}}\left( {k,l} \right)} = {{{s_{R,i,{mix}}(t)}❘_{t = {{lT}_{c} + {k\;\frac{T_{c}}{N}}}}} = {b_{0}e^{{- j}\; 2\;\pi\;{({\frac{B}{T_{c}}\tau})}{kT}_{c}}e^{j\; 2\;\pi\; f_{D}T_{c}l}{\varnothing(i)}e^{j\;\varphi_{0}}}}$     s_(R, i, mix)(t) = s_(R, i)(t)s_(T)^(*)(t) wherein s_(R,i,sample)is the processing signal, N is the number of sampling times in a chirpsignal period, k,l is a coordinate of the channel coefficient matrixblock belonged to the channel coefficient matrix, b₀ is attenuation ofthe receiving signal, B is a frequency-sweep bandwidth, T_(c) is aduration of frequency modulation continuous wave (FMCW) signal, ands_(T)(t) is the transmitted signal.
 9. The signal processing methodaccording to claim 1, wherein the channel coefficient matrix parameteris expressed as:$\left( F_{i} \right)_{k,l} = {{b_{0} \cdot e^{j\; 2\;\pi\; f_{D}T_{c}l} \cdot e^{{- j}\; 2\;{\pi{({\frac{B}{T_{c}}\tau})}}{kT}_{s}} \cdot e^{j\;\varphi_{0}} \cdot e^{j\;{\varnothing{(i)}}}}{\epsilon\mathbb{C}}^{N \times M}}$wherein (F_(i))_(k,l) is the k-th frequency domain and l-th time domainchannel coefficient matrix block in the channel coefficient matrix, b₀is attenuation of the receiving signal, T_(c) is a duration of frequencymodulation continuous wave (FMCW) signal, T_(s) is a sampling cycle,f_(D) is a Doppler shift caused by a relative velocity of the target.10. The signal processing method according to claim 1, wherein in thestep of performing signal processing on the transmitted signal and eachof the plurality of receiving signals, when the receiving signal is afrequency modulation continuous wave (FMCW) signal, a signal mixingprocess is performed on each of the plurality of receiving signals.